旋转式捷联惯导系统关键技术研究
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摘要
随着光纤陀螺相关技术的成熟，以光纤陀螺为基础构建的捷联惯导系统将越来越多的应用于航空、航天、航海以及陆用导航设备中。从惯导系统发展的趋势上看，捷联惯导系统必将取代老旧的平台惯导系统，这给光纤陀螺及其组成的光纤捷联惯导系统的发展提供了重要的历史机遇。在现有的光纤捷联惯导系统的基础上，采用旋转调制技术，对提高光纤捷联惯导系统的精度具有十分重要的意义。本文对旋转式捷联惯导系统的几个关键技术进行了深入研究，并以实验室自行研制的光纤陀螺及其组成的捷联惯导系统为基础，加之转位机构组成旋转式捷联惯导系统，进行了相关试验验证。
论文首先介绍了旋转调制技术的基本原理，分析了单轴旋转调制只能自动补偿与旋转轴垂直方向上的惯性器件误差，不能自动补偿旋转轴方向上的惯性器件误差，在此基础上，提出了将IMU倾斜安装的改进单轴旋转方案，从原理上分析了该方案能够完全消除三个方向上的惯性器件误差，给出了仿真分析。
给出了转位机构的转动模型，将转位机构的角加速度考虑到转位机构的转动模型中，在此基础上详细推导了单轴连续旋转、持续正反转旋转、大于360°四位置转停方案、小于360°四位置转停方案以及小于360°的改进四位置转停方案的误差传播特性，并对各转位方案进行了仿真分析。比较研究了几种单轴旋转调制方案，选择了最佳的转位方案，在此基础上，研究了转位机构的角加速度、调制角速度、停止时间的参数设置，并进行了仿真分析。
研究了旋转式捷联惯导系统的两种基本解算结构，推导了转位机构误差在两种解算结构下的误差传播特性，通过对比分析，选择了角度调制型解算结构；在此基础上，分析了转位机构信息与光纤陀螺信息的时间同步性问题，推导了延迟时间对旋转式捷联惯导系统姿态误差的影响，给出了一种延迟时间的测量方法和补偿策略，并进行了相关试验验证；分析了转位机构启动过程角加速度对光纤陀螺的影响，将角加速度和角加速度的导数项扩展到光纤陀螺的静态误差模型中，对角加速度进行了补偿，并进行了相关试验验证。
介绍了FOG的随机误差模型、静态误差模型、加速度计的静态误差模型。研究了一种智能优化算法：人工鱼群算法；利用AFSA对光纤陀螺的随机漂移进行了建模，得到了很好地建模效果；在无高精度转台的环境中，以IMU的加速度和角速度模方为观测，利用AFSA对IMU的静态误差参数进行辨识，提出了参数分步拟合、交叉迭代的IMU参数辨识算法流程，在人工鱼群迭代过程中实行人工鱼二次初始化的优化思想，并对其进行了仿真分析，得到了很好地拟合效果；在此基础上，以实验室自行研制的FOGSINS为平台，利用AFSA对IMU参数进行拟合，分别进行了静态导航试验、旋转调制导航试验，试验结果均表明，该方法得到IMU误差参数能够满足高精度导航系统的要求，是一种行之有效的IMU参数辨识方法，具有十分重要的现实意义。
最后，以实验室自行研制的高精度FOG SINS为基础，结合单轴速率位置转台构成旋转式捷联惯导系统，设计了几种旋转调制方案，分别进行了载体航向误差分析和定位误差分析，验证了系统调制方案的有效性，试验结果证明了单轴旋转调制能够有效提高惯导系统的定位精度，在进行转位机构误差有效补偿的条件下，也能够提高系统的姿态精度。
With the rapid development of the Fiber optical gyroscope (FOG),the FOG-based strap-down inertial navigation system (SINS) has been widely used in areas like aviation, aerospace,marine and land navigation.As seen from the development trend of the inertial navigationsystem (INS), the SINS will replace the old platform inertial navigation system, and this pro-vides an important historical opportunity and challenge to the development of FOG andFOG-based SINS. With on the existing fiber SINS,it is of great significance to improve theprecision of the fiber SINS with the rotating modulation technology. The dissertation has adeep study on several key technologies of rotary SINS. Based on a laboratory-developed FOGand FOG-based SINS combined with a rotary indexing mechanism,experiments have beenconducted to verify the performance.
The dissertation first introduces the basic principle of rotation modulation technique,then analyzed the automatic compensation on the perpendicular axis direction of inertial in-strument errors otherwise the rotation axis inertial instrument error in single-axis rotationmodulation.On this basis,a scheme that the IMU is incline installation has been pro-posed.From the principle analysis this can complete eliminate the inertial instrument errors inthree directions.Then are the simulation analysis.
The actual system rotation model of the indexing mechanism has been demonstrated.Taking angular acceleration of the indexing mechanism into the rotation model of the index-ing mechanism, and on the basis, the detailed error propagation characteristics has been de-rived and the simulations analyse the single-axis continuous rotation scheme, continuous re-versible rotation scheme, four-position switch-stop over360°scheme, four-positionswitch-stop less360°scheme and improved four-position switch-stop less360°scheme.Several single-axis rotation modulation scheme has been studied to choose the best indexingscheme, on this basis, the indexing mechanism on the angular acceleration, the modulationangular velocity and the stop time parameter settings have been studied followed by simula-tion analysis.
The dissertation researches on the two basic computation structures of rotary SINS, de-rives the error propagation characteristics of indexing mechanism error respectively, andchooses the angle modulation computation structure after comparative analysis. On this basis,the dissertation analyse the time synchronization of the indexing information and the FOGinformation, and derives the attitude error influence by delay time on rotary SINS, providesthe measurement method and the compensation strategy of the delay time, and conducts re- lated experiments. Besides the dissertation analyse the influence of indexing mechanism star-tup process to FOG, makes some compensations by extending angular acceleration and deriv-ative items of angular acceleration to the static error model of FOG, and has related experi-mental verification.
The FOG random error model, static error model and accelerometer static error modelhave been introduced, An intelligent optimization algorithm: Artificial fish swarm algorithm(AFSA) have been proposed. Adopting AFSA to FOG random drift model can achieve goodmodeling effect. On the mode square observation of IMU acceleration and angular accelera-tion in the condition of without high-precision turntable, and static error parameters identifi-cation by using AFSA.Algorithm processes of parameters step-by-step fitting and cross itera-tion IMU parameters identification have been presented.By implementing artificial fish sec-ondary initialization optimization idea in artificial swarm iterative process,we can obtain wellfitting effects by through simulation. On this basis, adopting the AFSA to IMU parametersfitting to have on the static navigation experiments, the rotation modulation navigation expe-riments with the laboratory-developed FOG SINS platform respectively, and all the experi-ment results show that the IMU error parameters acquire method could meet the requirementsof high-precision navigation systems. It is an effective IMU parameters identification methodand has an important practical significance.
Finally, the dissertation designs several rotation modulation schemes with theself-developed high-precision FOG and the single-axis rate and position turntable SINS, andanalyse the vehicle heading error and the positioning error respectively. Then the dissertationverifies the effectiveness of system modulation schemes. And the experiment results showthat the single-axis rotation modulation scheme can improve positioning accuracy of INS, andalso improve the attitude accuracy after the effective compensation on indexing error.
论文首先介绍了旋转调制技术的基本原理，分析了单轴旋转调制只能自动补偿与旋转轴垂直方向上的惯性器件误差，不能自动补偿旋转轴方向上的惯性器件误差，在此基础上，提出了将IMU倾斜安装的改进单轴旋转方案，从原理上分析了该方案能够完全消除三个方向上的惯性器件误差，给出了仿真分析。
给出了转位机构的转动模型，将转位机构的角加速度考虑到转位机构的转动模型中，在此基础上详细推导了单轴连续旋转、持续正反转旋转、大于360°四位置转停方案、小于360°四位置转停方案以及小于360°的改进四位置转停方案的误差传播特性，并对各转位方案进行了仿真分析。比较研究了几种单轴旋转调制方案，选择了最佳的转位方案，在此基础上，研究了转位机构的角加速度、调制角速度、停止时间的参数设置，并进行了仿真分析。
研究了旋转式捷联惯导系统的两种基本解算结构，推导了转位机构误差在两种解算结构下的误差传播特性，通过对比分析，选择了角度调制型解算结构；在此基础上，分析了转位机构信息与光纤陀螺信息的时间同步性问题，推导了延迟时间对旋转式捷联惯导系统姿态误差的影响，给出了一种延迟时间的测量方法和补偿策略，并进行了相关试验验证；分析了转位机构启动过程角加速度对光纤陀螺的影响，将角加速度和角加速度的导数项扩展到光纤陀螺的静态误差模型中，对角加速度进行了补偿，并进行了相关试验验证。
介绍了FOG的随机误差模型、静态误差模型、加速度计的静态误差模型。研究了一种智能优化算法：人工鱼群算法；利用AFSA对光纤陀螺的随机漂移进行了建模，得到了很好地建模效果；在无高精度转台的环境中，以IMU的加速度和角速度模方为观测，利用AFSA对IMU的静态误差参数进行辨识，提出了参数分步拟合、交叉迭代的IMU参数辨识算法流程，在人工鱼群迭代过程中实行人工鱼二次初始化的优化思想，并对其进行了仿真分析，得到了很好地拟合效果；在此基础上，以实验室自行研制的FOGSINS为平台，利用AFSA对IMU参数进行拟合，分别进行了静态导航试验、旋转调制导航试验，试验结果均表明，该方法得到IMU误差参数能够满足高精度导航系统的要求，是一种行之有效的IMU参数辨识方法，具有十分重要的现实意义。
最后，以实验室自行研制的高精度FOG SINS为基础，结合单轴速率位置转台构成旋转式捷联惯导系统，设计了几种旋转调制方案，分别进行了载体航向误差分析和定位误差分析，验证了系统调制方案的有效性，试验结果证明了单轴旋转调制能够有效提高惯导系统的定位精度，在进行转位机构误差有效补偿的条件下，也能够提高系统的姿态精度。
With the rapid development of the Fiber optical gyroscope (FOG),the FOG-based strap-down inertial navigation system (SINS) has been widely used in areas like aviation, aerospace,marine and land navigation.As seen from the development trend of the inertial navigationsystem (INS), the SINS will replace the old platform inertial navigation system, and this pro-vides an important historical opportunity and challenge to the development of FOG andFOG-based SINS. With on the existing fiber SINS,it is of great significance to improve theprecision of the fiber SINS with the rotating modulation technology. The dissertation has adeep study on several key technologies of rotary SINS. Based on a laboratory-developed FOGand FOG-based SINS combined with a rotary indexing mechanism,experiments have beenconducted to verify the performance.
The dissertation first introduces the basic principle of rotation modulation technique,then analyzed the automatic compensation on the perpendicular axis direction of inertial in-strument errors otherwise the rotation axis inertial instrument error in single-axis rotationmodulation.On this basis,a scheme that the IMU is incline installation has been pro-posed.From the principle analysis this can complete eliminate the inertial instrument errors inthree directions.Then are the simulation analysis.
The actual system rotation model of the indexing mechanism has been demonstrated.Taking angular acceleration of the indexing mechanism into the rotation model of the index-ing mechanism, and on the basis, the detailed error propagation characteristics has been de-rived and the simulations analyse the single-axis continuous rotation scheme, continuous re-versible rotation scheme, four-position switch-stop over360°scheme, four-positionswitch-stop less360°scheme and improved four-position switch-stop less360°scheme.Several single-axis rotation modulation scheme has been studied to choose the best indexingscheme, on this basis, the indexing mechanism on the angular acceleration, the modulationangular velocity and the stop time parameter settings have been studied followed by simula-tion analysis.
The dissertation researches on the two basic computation structures of rotary SINS, de-rives the error propagation characteristics of indexing mechanism error respectively, andchooses the angle modulation computation structure after comparative analysis. On this basis,the dissertation analyse the time synchronization of the indexing information and the FOGinformation, and derives the attitude error influence by delay time on rotary SINS, providesthe measurement method and the compensation strategy of the delay time, and conducts re- lated experiments. Besides the dissertation analyse the influence of indexing mechanism star-tup process to FOG, makes some compensations by extending angular acceleration and deriv-ative items of angular acceleration to the static error model of FOG, and has related experi-mental verification.
The FOG random error model, static error model and accelerometer static error modelhave been introduced, An intelligent optimization algorithm: Artificial fish swarm algorithm(AFSA) have been proposed. Adopting AFSA to FOG random drift model can achieve goodmodeling effect. On the mode square observation of IMU acceleration and angular accelera-tion in the condition of without high-precision turntable, and static error parameters identifi-cation by using AFSA.Algorithm processes of parameters step-by-step fitting and cross itera-tion IMU parameters identification have been presented.By implementing artificial fish sec-ondary initialization optimization idea in artificial swarm iterative process,we can obtain wellfitting effects by through simulation. On this basis, adopting the AFSA to IMU parametersfitting to have on the static navigation experiments, the rotation modulation navigation expe-riments with the laboratory-developed FOG SINS platform respectively, and all the experi-ment results show that the IMU error parameters acquire method could meet the requirementsof high-precision navigation systems. It is an effective IMU parameters identification methodand has an important practical significance.
Finally, the dissertation designs several rotation modulation schemes with theself-developed high-precision FOG and the single-axis rate and position turntable SINS, andanalyse the vehicle heading error and the positioning error respectively. Then the dissertationverifies the effectiveness of system modulation schemes. And the experiment results showthat the single-axis rotation modulation scheme can improve positioning accuracy of INS, andalso improve the attitude accuracy after the effective compensation on indexing error.
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